JP7715664B2 - Vehicle alarm system - Google Patents

Description

The present invention relates to a vehicle warning device that warns the driver of the vehicle using at least one of a visual and an audible warning when there is an object that the driver should pay attention to.

Vehicle warning devices have been known for some time that determine whether or not there is an object that the driver of the vehicle should pay attention to, based on information obtained from a vehicle surroundings sensor (information acquisition device), and if such an object is present, warn the driver using both a visual and an audible warning (see, for example, Patent Document 1).

JP 2016-85486 A

However, conventional devices always issue both a visual and an audible warning when they determine that there is an object that the driver of the vehicle should pay attention to. Therefore, for example, if the driver is aware of such an object, the driver may find the audible warning annoying.

The present invention was made to solve the above-mentioned problems. That is, one of the objects of the present invention is to provide a vehicle alarm device that can reduce the possibility of generating an alarm that the driver finds annoying.

The vehicle alarm device of the present invention (hereinafter, sometimes referred to as the "device of the present invention") comprises:
an information acquisition device (15, 20, 25, 30, 35) that acquires vehicle surrounding information including information about targets present around the vehicle and information about road markings on the road surface around the vehicle;
a controller (10) configured to execute movement assistance control for moving the host vehicle from a current position of the host vehicle to a predetermined parking target position or a target exit position based on the vehicle surroundings information;
a display device (81) capable of issuing a display warning to the driver of the vehicle;
an alarm sound generating device (71) capable of issuing an alarm sound warning to the driver of the vehicle using an alarm sound;
Equipped with.

Furthermore, the controller (10)
When it is determined based on the vehicle surrounding information that there is an object to be warned about, which is an object that the driver of the host vehicle should pay attention to (step 340: Yes),
When the travel assistance control is being executed (step 350: Yes), the display device is caused to issue the display warning and the warning sound generation device is caused to issue the warning sound (steps 360 and 370),
When the movement assistance control is not being executed (step 350: No), if a predetermined alarm sound prohibition condition is met (step 380: Yes), the alarm sound generation device is caused to issue the visual warning, and the display device is caused to issue the visual warning (step 370). If the alarm sound prohibition condition is not met (step 380: No), the alarm sound generation device is caused to issue the visual warning, and the display device is caused to issue the visual warning (steps 360 and 370).
It is structured as follows.

Accordingly, when movement assistance control (parking assistance control and leaving assistance control) is being performed, which is when the driver of the vehicle is likely to be unaware of the presence of a target that requires attention, both the visual warning and the audible warning are issued.

Furthermore, when mobility assistance control is not being executed, both the audible alarm and the visual alarm are issued unless the audible alarm prohibition condition is met. However, if the audible alarm prohibition condition is met, only the visual alarm is issued without the audible alarm. The audible alarm prohibition condition is predetermined to be met in situations where the driver is likely to be aware of the presence of an object that requires attention. This reduces the likelihood of a situation occurring in which the driver finds the audible alarm annoying.

In the above description, to aid in understanding the invention, the reference symbols used in the description of the embodiments described below are enclosed in parentheses for the constituent elements of the invention that correspond to those embodiments. However, the constituent elements of the invention are not limited to the embodiments defined by the reference symbols.

1 is a schematic configuration diagram of a vehicle alarm device (vehicle driving assistance device) according to an embodiment of the present invention; FIG. 2 is a flowchart showing a routine executed by a CPU of a vehicle control ECU shown in FIG. 1 . FIG. 2 is a diagram for explaining the operation of the vehicle control ECU shown in FIG. 1 . FIG. 2 is a diagram for explaining the operation of the vehicle control ECU shown in FIG. 1 . FIG. 2 is a diagram for explaining the operation of the vehicle control ECU shown in FIG. 1 . FIG. 2 is a diagram for explaining the operation of the vehicle control ECU shown in FIG. 1 . FIG. 2 is a diagram for explaining the operation of the vehicle control ECU shown in FIG. 1 .

A vehicle alarm device according to an embodiment of the present invention (hereinafter sometimes referred to as the "embodied device") is applied to a vehicle. Hereinafter, a vehicle equipped with the implemented device will be referred to as the "host vehicle."

(composition)
As shown in Fig. 1, the device DS according to the present embodiment has various components including a vehicle control ECU 10. A detailed description will be given below.

The vehicle control ECU 10 is an ECU that executes driving assistance control, including "driver warning control, parking assistance control, and parking exit assistance control."

In this specification, "ECU" refers to an electronic control unit (Electronic Control Unit) that includes a microcomputer as its main component, and is also referred to as a controller. The microcomputer includes a CPU (processor), ROM, RAM, non-volatile memory, and an interface I/F. The CPU performs various functions by executing instructions (programs, routines) stored in the ROM. The vehicle control ECU 10 and some or all of the multiple ECUs described below may be integrated into a single ECU.

The vehicle condition sensor 11 includes the following multiple sensors and switches. The vehicle control ECU 10 receives the detected values or output values of these sensors and switches.

A vehicle speed sensor that detects the speed of the vehicle (vehicle speed SPD).
A yaw rate sensor that detects the yaw rate Yr of the vehicle.
A lateral acceleration sensor that detects the lateral acceleration Gy of the vehicle.
- A steering angle sensor that detects the steering angle of the vehicle.
A shift position sensor that detects the shift position of the transmission of the vehicle. The shift positions include a park position (P), a neutral position (N), a forward position (D), and a reverse position (R).

The parking assist switch 12 is a switch that is operated when the driver requests the vehicle control ECU 10 to execute or stop parking assist control, leaving-parking assist control, and the like.
Parking assistance control and exit assistance control are both well known and will be briefly described later. Both are controls (i.e., vehicle movement assistance controls) that automatically or semi-automatically move the vehicle from its current position to a target position at a low vehicle speed without requiring the driver to operate the vehicle.

The front camera device 15 includes a front camera 16 and a front image recognition ECU 17 .
As shown in FIG. 2, the front camera 16 is provided at approximately the center of the front bumper FB in the vehicle width direction, and captures images of the area ahead of the host vehicle HV to obtain image data.
The forward image recognition ECU 17 acquires camera information about the area ahead of the host vehicle HV based on image data acquired by the forward camera 16. The camera information includes "information that indicates the positions and shapes of targets in the vicinity of the host vehicle HV relative to the host vehicle HV, the types of targets, and the positions and shapes of markings (e.g., markings defining lanes and markings defining parking areas) painted on the road surface around the host vehicle HV relative to the host vehicle HV."

The left camera device 20 includes a left camera 21 and a left image recognition ECU 22 .
As shown in FIG. 2, the left camera 21 is provided on the left door mirror LM, and captures an image of the left side of the host vehicle HV to obtain image data.
The left image recognition ECU 22 acquires camera information about the left side of the host vehicle HV based on the image data acquired by the left camera 21 .

The right camera device 25 includes a right camera 26 and a right image recognition ECU 27 .
As shown in FIG. 2, the right camera 26 is provided on the right door mirror RM, and captures an image of the area to the right of the host vehicle HV to obtain image data.
The right image recognition ECU 27 acquires camera information about the right side of the host vehicle HV based on image data acquired by the right camera 26 .

The rear camera device 30 includes a rear camera 31 and a rear image recognition ECU 32 .
As shown in FIG. 2, the rear camera 31 is provided on the wall of the rear trunk RT, and captures images of the area behind the host vehicle HV to obtain image data.
The rear image recognition ECU 32 acquires camera information about the area behind the host vehicle HV based on image data acquired by the rear camera 31 .

The information from the front camera, left camera, right camera, and rear camera is integrated by the vehicle control ECU 10 to become "camera surroundings information."

The ultrasonic detection device 35 includes a plurality of ultrasonic sensors 36 a - 36 l and an ultrasonic processing ECU 37 .
The ultrasonic sensors 36a-36l are mounted at the positions shown in Fig. 2, transmit ultrasonic waves in pulses outward from the host vehicle HV, and receive waves reflected by targets. Each ultrasonic sensor acquires the distance between itself and a "reflection point, which is a point on the target where the transmitted ultrasonic waves are reflected," based on the time from transmission to reception of the ultrasonic waves.
The ultrasonic processing ECU 37 acquires information (hereinafter referred to as "ultrasonic sensor information") about the position and shape of targets in the vicinity of the vehicle HV relative to the vehicle HV based on the distances transmitted from each of the ultrasonic sensors 36a-36l.

The power management ECU 40 is connected to a power train actuator 41. The power train actuator 41 is an actuator that changes the torque generated by the drive system (e.g., an internal combustion engine and/or an electric motor) of the host vehicle HV. Therefore, the power management ECU 40 can control the drive system using the power train actuator 41 to control the drive force of the host vehicle HV. Furthermore, in this example, the power train actuator 41 can change the shift position of a transmission (not shown). In other words, the power management ECU 40 can perform shift control using the power train actuator 41.

The brake ECU 45 is connected to a brake actuator 46. The brake actuator 46 is an actuator that controls the friction brake devices (braking devices) arranged on each wheel of the host vehicle HV to change the braking force applied to the vehicle. Therefore, the brake ECU 45 can control the braking force applied to the host vehicle HV by controlling the braking devices using the brake actuator 46.

The steering ECU 50 is connected to a motor drive circuit (inverter) 51 for an assist motor (not shown). The assist motor is incorporated into the steering mechanism of the host vehicle HV. The steering ECU 50 controls the motor drive circuit 51 to change the steering angle of the host vehicle HV.

The navigation ECU 60 is connected to a GPS receiver 61 , a map database 62 , and a touch panel 63 .
The GPS receiver 61 receives a GPS signal for identifying the location (latitude and longitude) of the vehicle.
The map database 62 is a storage device that stores map information, including information that identifies parking lots, intersections, and the like.
The touch panel 63 is a display that displays various information including maps and touch buttons.
The navigation ECU 60 acquires the current position of the vehicle HV based on the GPS signal transmitted from the GPS receiver 61. Furthermore, the navigation ECU 60 provides well-known route guidance based on the destination input via the touch panel 63, the current position of the vehicle HV, and map information stored in the map database 62.

The warning ECU 70 is connected to a buzzer (warning sound generating device) 71, and can generate a warning sound for the driver of the vehicle HV by sounding the buzzer 71.

The display ECU 80 is connected to a display device (panoramic view display device) 81. The display ECU 80 can display a warning to the driver of the host vehicle HV (a display informing the driver that a target is approaching) on the display device 81. Furthermore, the display ECU 80 can display, based on camera surrounding information, a landscape image in the direction of travel of the host vehicle HV, an overhead image of the host vehicle HV and its surroundings, and the like on the display device 81.

The CGW-ECU 90 is a control gateway ECU that controls the transmission and reception of information between multiple ECUs. In other words, the multiple ECUs described above can transmit and receive information via the CGW-ECU 90, the first communication line C1, and the second communication line C2.

The vehicle control ECU 10 described above plots, on a two-dimensional map, the positions and shapes of targets in the vicinity of the host vehicle HV relative to the host vehicle HV, as well as the positions and shapes of marking lines painted on the road surface around the host vehicle HV relative to the host vehicle HV, etc., every time a predetermined time t elapses, based on the camera surroundings information and ultrasonic sensor information. This two-dimensional map has a coordinate system with the origin at the center position in the vehicle width direction of the front end of the host vehicle HV, the X axis in the longitudinal direction of the host vehicle HV, and the Y axis in the vehicle width direction of the host vehicle HV.

Furthermore, when the two-dimensional map is updated, the vehicle control ECU 10 estimates the "moving direction and moving speed" of the target from the position of the target depicted on the updated two-dimensional map, the position of the target depicted on the two-dimensional map a predetermined time ago t, the current "vehicle speed SPD and yaw rate Yr" of the host vehicle HV, etc.

(Operation)
The CPU of the vehicle control ECU 10 (hereinafter simply referred to as "CPU") executes the routine shown in the flowchart of FIG. 3 every time a predetermined time elapses.

Therefore, when an appropriate time arrives, the CPU starts processing from step 300 in Figure 3 and proceeds to step 310. In step 310, the CPU determines whether at least one of the following "intersecting objects and collision objects" is present, based on the "moving direction and moving speed" of the object and the "vehicle speed SPD and yaw rate Yr" of the host vehicle HV, etc.

An intersecting target is a target approaching the predicted travel path of the host vehicle HV so as to intersect with the predicted travel path. The predicted travel path of the host vehicle HV is the future path of the host vehicle HV along which the center of gravity of the host vehicle HV is likely to pass within a specified estimation period, assuming that the host vehicle HV maintains its current vehicle speed SPD and yaw rate Yr. The estimation period is the period from the current time to a point when a predetermined amount of time has elapsed from the current time. The length of the predicted travel path of the host vehicle HV is set to a predetermined minimum length (e.g., several meters). The CPU estimates the target's future path (predicted travel path) during the estimation period based on the target's direction of movement and speed. The predicted travel path of the target is calculated assuming that the target will maintain its current motion state (direction of movement and speed). The CPU determines that an intersecting target exists if the predicted travel path intersects with the predicted travel path of the host vehicle HV.

A collision target is an object located within the host vehicle passing area, which is generated by expanding the host vehicle's predicted path to the width of the host vehicle. In other words, the CPU determines that a collision target exists when a target is present within the host vehicle passing area.

If there are no intersecting targets and no collision targets, the CPU determines "No" in step 310, proceeds directly to step 395, and temporarily ends this routine. Therefore, in this case, no warning is issued.

In contrast, if at least one of a crossing object and a collision object is present, the CPU determines "Yes" in step 310 and proceeds to step 320, where it calculates the estimated time to crossing (ETC) of the crossing object (or, if there are multiple crossing objects, each of the crossing objects), and calculates the time to collision (TTC) of the collision object (or, if there are multiple collision objects, each of the collision objects).

The predicted intersection time ETC is the time required for the intersecting object to reach the position where the predicted travel path of the host vehicle HV and the predicted movement path of the intersecting object intersect (hereinafter referred to as the "predicted intersection position"). The predicted intersection time ETC is a well-known time calculated by dividing the distance from the current position of the intersecting object to the predicted intersection position by the magnitude of the velocity component of the intersecting object heading toward the predicted intersection position.

The time to collision (TTC) is a well-known time calculated by dividing the distance from the current position of the host vehicle HV to the position where the host vehicle HV and the collision object are predicted to collide (hereinafter referred to as the "predicted collision position") by the speed (relative speed) of the collision object relative to the host vehicle HV.

Next, the CPU proceeds to step 330, identifies the shortest time from the time to collision (TTC) and the predicted intersection time (ETC), and uses this shortest time as the determination time (Tdet).

Next, the CPU proceeds to step 340 and determines whether the determination time Tdet is equal to or less than the threshold time Tdeth. That is, in step 340, the CPU determines whether there is an object that requires an alert to be issued to the driver of the host vehicle HV (i.e., an object to be alerted for which the determination time Tdet is equal to or less than the threshold time Tdetth).

Note that the method for determining whether or not an intersecting target, a collision target, or a warning target exists is not limited to the above example, and may be based on other well-known methods (see, for example, JP 2019-52987 A, JP 2017-107328 A, JP 2014-2610 A, and JP 2021-64084 A, etc.).

If the determination time Tdet is greater than the threshold time Tdeth, the CPU determines "No" in step 340, proceeds directly to step 395, and temporarily ends this routine. Therefore, in this case, no warning is issued.

In contrast, if the determination time Tdet is equal to or less than the threshold time Tdeth, the CPU determines "Yes" in step 340 and proceeds to step 350. In step 350, the CPU determines whether at least one of "parking assistance control and exit assistance control" is currently being executed. Note that parking assistance control and exit assistance control are sometimes referred to as movement assistance control.

If either parking assistance control or exit assistance control is currently being executed, the CPU determines "Yes" in step 350, sequentially performs the warning processing in steps 360 and 370 described below, and then proceeds to step 395 and temporarily ends this routine.

Step 360: The CPU sends an instruction signal to the warning ECU 70 to sound the buzzer 71. That is, the CPU issues a warning (warning sound warning) using sound (warning sound) by generating a warning sound for the driver of the host vehicle HV.
Step 370: The CPU sends an instruction signal to the display ECU 80 to cause the display device 81 to display a warning display for the driver of the host vehicle HV. That is, the CPU issues a warning (display warning) using a display (light) by displaying a message informing the driver that a target is approaching.

In contrast, if neither parking assistance control nor exit assistance control is currently being performed, the CPU determines "No" in step 350 and proceeds to step 360. In step 360, the CPU determines whether the alarm sound prohibition condition is met. The alarm sound prohibition condition is predetermined to be met in situations where there is a high probability that the driver of the host vehicle HV is aware of the presence of a "target that requires attention (target that requires warning)." For example, the alarm sound prohibition condition is met when at least one of condition A and condition B described below is met. In other words, the alarm sound prohibition condition is a condition that is met when at least one of condition A and condition B is met.

<Alarm sound prohibition conditions>
(Condition A) The host vehicle HV is stopped (vehicle speed SPD is "0").
(Condition B) The current position of the host vehicle HV is outside an area registered in the map database as a parking lot, and the shift position is in the forward position (D).

If the alarm sound prohibition condition is met, the CPU determines "Yes" in step 380 and performs the processing of step 370 described above (issuing an alarm using a display). The CPU then proceeds to step 395 and temporarily ends this routine. In this case, the processing of step 360 is not performed, and therefore an alarm using sound (alarm sound) is not issued.

In contrast, if the alarm sound prohibition condition is not met, the CPU determines "No" in step 380, sequentially performs the above-mentioned "processing of steps 360 and 370," and then proceeds to step 395, temporarily terminating this routine. In this case, the processing of both steps 360 and 370 is performed, so both an alarm using an alarm sound (sound) and an alarm using a display (light) are issued.

Here, the parking assist control will be briefly described. The CPU starts the parking assist control when, for example, all of the following conditions 1 to 4 are met.
(Condition 1) The parking assist mode is selected by performing a predetermined operation on the parking assist switch 12.
(Condition 2) The current position of the shift lever is the forward position (D).
(Condition 3) The vehicle speed SPD is equal to or less than a predetermined vehicle speed (for example, 30 km/h).
(Condition 4) An area (candidate area) large enough for the host vehicle HV to park is detected based on camera surroundings information.

When the CPU starts parking assistance control, it determines the area that the host vehicle HV would occupy if it were parked within the candidate area as the parking target area P, and sets the position of the center of gravity of the host vehicle HV when parked in that parking target area P as the parking target position.

The CPU determines a target route for moving the host vehicle HV from its current position to the target parking position. The target route can be calculated using one of various known calculation methods (for example, the method proposed in JP 2015-3565 A).

The CPU then performs movement control to move the host vehicle HV along the target route. Movement control includes shift control, automatic steering angle control, driving force control, braking force control, etc. (See, for example, JP 2019-202697 A, JP 2019-189134 A, and JP 2005-41373 A). The CPU may also use the display 81 to instruct the driver of the host vehicle HV to operate the brake pedal without performing braking force control. In this case, when the driver releases the brake pedal, the host vehicle HV moves along the target route.

The CPU terminates the parking assist control when, for example, at least one of the following conditions 5 and 6 is satisfied. The CPU determines that the parking assist control is being executed during the period from the start to the end of the parking assist control.
(Condition 5) The host vehicle HV has moved to the parking target position by parking assist control.
(Condition 6) A predetermined operation is performed on the parking assist switch 12, causing the parking assist control to be forcibly terminated.

Next, the above-mentioned leaving-station support control will be briefly described. The CPU starts the leaving-station support control when, for example, all of the following conditions 7 and 8 are met.
(Condition 7) The host vehicle HV is stopped (the vehicle speed SPD is "0").
(Condition 8) The parking assist switch 12 is operated in a predetermined manner to select the pulling out assist mode.

When the CPU starts the exit assistance control, it determines the target exit position and determines a target route for moving the host vehicle HV from its current position to the target exit position. The CPU then performs movement control to move the host vehicle HV along the target route, similar to parking assistance control (see, for example, JP 2017-128213 A, JP 2019-209946 A, and JP 2020-152294 A). Even in this case, the CPU may not perform braking force control, but may instead use the display 81 to instruct the driver of the host vehicle HV to operate the brake pedal.

The CPU terminates the leaving support control when, for example, at least one of the following conditions 9 and 10 is satisfied. The CPU determines that the leaving support control is being executed during the period from the start to the end of the leaving support control.
(Condition 9) The host vehicle HV has been moved to the target departure position by the departure assistance control.
(Condition 10) The driver of the host vehicle HV operates either the accelerator pedal or the steering wheel, causing the host vehicle HV to deviate from the target route by a predetermined distance or more.

With this device configured as described above, for example, in the following scenes illustrated in Figures 4 to 6, both an alarm using an alarm sound (i.e., an alarm sound alarm) and an alarm using a display (i.e., a display alarm) are executed.

Scene in FIG. 4: A scene in which pedestrians Pd1 and Pd2, who are objects to be warned, are present when the host vehicle HV, for which parking assist control is being executed, moves forward to a turning point for parking.
Scene in FIG. 5: A scene in which a pedestrian Pd, who is an object to be warned, is present when the host vehicle HV, for which parking assist control is being executed, is moving backward to park.
Scene in FIG. 6: A scene in which a pedestrian Pd, who is an object to be warned, is present when the host vehicle HV, for which the leaving assistance control is being executed, is about to move forward to leave the parking lot.

In contrast, with the present implementation device, for example, in the following scenes illustrated in Figures 7 and 8, no alarm sound is issued, and only a visual alarm is issued.

Scene in Figure 7: A scene in which the host vehicle HV, in which neither parking assistance control nor exit assistance control is being executed, is stopped in front of a crosswalk and a pedestrian Pd, who is an object to be warned about, is present.
Scene in Figure 8: A scene in which the host vehicle HV, in which neither parking assistance control nor exit assistance control is being executed, is stopped at an intersection attempting to turn right, and another vehicle OV, which is an object to be warned about, is present.

In this way, if the device determines that an object requiring warning is present, it issues both an audible warning and a visual warning while mobility assistance control is being executed, when it is highly likely that the driver is unaware of the object requiring warning. Furthermore, if the device determines that an object requiring warning is present, it issues both an audible warning and a visual warning while mobility assistance control is not being executed, unless the "audible warning prohibition condition that is met when it is highly likely that the driver is aware of the object requiring warning" is met; if the audible warning prohibition condition is met, it only issues a visual warning without issuing an audible warning. This reduces the likelihood that the driver will find the audible warning annoying.

The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention. For example, the present embodiment may further include radar and/or LiDAR, and may use the information acquired thereby to detect crossing and collision targets. Furthermore, the warning target may be a target other than a crossing or collision target (e.g., a target within a predetermined distance from the host vehicle HV) (see, for example, JP 2021-64085 A). Furthermore, the warning using a display may be issued by turning on or flashing a warning lamp located in a combination meter (not shown). The vehicle control ECU 10 may be configured to execute only one of parking assistance control and leaving-parking assistance control as movement assistance control.

The alarm sound prohibition condition may include, for example, only one of the above-mentioned condition A and condition B, or may further include at least one of the following condition C and condition D.
(Condition C) The vehicle HV is located within an intersection.
(Condition D) The shift position of the host vehicle HV is either the park position (P) or the neutral position (N).
That is, the alarm sound prohibition condition may be any combination of one or more of the conditions A to D.

10...Vehicle control ECU, 15...Front camera device, 20...Left camera device, 25...Right camera device, 30...Rear camera device, 35...Ultrasonic detection device, 70...Warning ECU, 71...Buzzer (alarm sound generator), 80...Display ECU, 81...Display device (panoramic view display device, display warning display device).

Claims (1)

an information acquisition device that acquires vehicle surrounding information including information about targets present around the vehicle and information about lane markings on the road surface around the vehicle;
a controller configured to execute movement assistance control for moving the host vehicle from a current position of the host vehicle to a predetermined parking target position or a predetermined exit target position based on the vehicle surroundings information;
a display device capable of issuing a visual warning to a driver of the vehicle;
an alarm sound generating device capable of issuing an alarm sound warning to a driver of the vehicle using an alarm sound;
Equipped with
The controller
When it is determined based on the vehicle surrounding information that there is a target to be warned about that is a target to which the driver of the host vehicle should pay attention,
When the movement assistance control is being executed, the display device is caused to issue the display warning and the warning sound generation device is caused to issue the warning sound;
When the movement support control is not being executed, if a predetermined alarm sound prohibition condition is satisfied, the display device is caused to issue the visual warning without causing the alarm sound generation device to issue the alarm sound, and if the alarm sound prohibition condition is not satisfied, the alarm sound generation device is caused to issue the alarm sound and the display device is caused to issue the visual warning.
It was configured as follows:
Vehicle alarm device.